Real-Time Laser Obstacle Detection System for Autonomous Mobile Robot Navigation
Plamen P. Petrov, Veska M. Georgieva, Stiliyan Nikolov, Antonia Mihaylova · 2019
This paper presents a laser obstacle detection system for mobile robot navigation. Algorithms for segmentation, where the set of measurements from 2D laser range finder is separated into segments representing each obstacle, line fitting and corner extraction for polygonal obstacles are developed. Simulation and experimental results are presented to illustrate the effectiveness of the developed real time laser obstacle detection system for autonomous mobile robot navigation.